The invention discloses a vehicle control method and device in a trapped scene, a storage medium and a vehicle, and the method comprises the steps: determining a target escape point corresponding to a target trapped scene when it is detected that the vehicle is in the target trapped scene, and the target escape point is located on a road reference line in front of the vehicle; executing a path planning operation by taking the target detrapping point as an end point to plan and generate a detrapping planning path; if the path planning operation plans and generates the escape planning path successfully and the escape planning path has a backward path, controlling the vehicle to move according to the escape planning path so as to guide the vehicle to break away from the trapped scene; and if the execution of the path planning operation reaches a preset number of times and the escape planning path is not planned and generated, or the path planning operation successfully plans and generates the escape planning path and the escape planning path does not have a backward path, the execution of the path planning operation is stopped so as to stop controlling the vehicle to break away from the trapped scene. In this way, computing resources in the automatic driving process can be saved.
本申请公开了一种受困场景下的车辆控制方法、设备、存储介质及车辆,方法包括:在检测到车辆处于目标受困场景的情况下,确定与目标受困场景对应的目标脱困点,目标脱困点位于车辆行驶前方的道路参考线上;以目标脱困点为终点执行路径规划操作,以规划生成脱困规划路径;若路径规划操作规划生成脱困规划路径成功、且脱困规划路径存在后退路径,则控制车辆按照脱困规划路径运动,以引导车辆脱离受困场景;若执行路径规划操作达到预设次数且未规划生成脱困规划路径,或者,路径规划操作规划生成脱困规划路径成功、且脱困规划路径不存在后退路径,则停止执行路径规划操作,以结束控制车辆脱离受困场景。如此,可以节省自动驾驶过程中的计算资源。
Vehicle control method and device in trapped scene, storage medium and vehicle
受困场景下的车辆控制方法、设备、存储介质及车辆
29.11.2024
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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